CN211669772U - Riveting training equipment - Google Patents

Abstract

The utility model discloses a real standard equipment of riveting belongs to real standard equipment technical field. A riveting practical training device comprises a manipulator, wherein a pressing module, a punching module and a nail feeding module are arranged on the manipulator and are respectively used for pressing, punching and feeding nails to be riveted, and a top iron is also arranged on the manipulator and is used for abutting against one end of a rivet on the to-be-riveted part; the riveting module comprises a driving device and a riveting block, the driving device is in driving connection with the riveting block, the driving device is used for driving the riveting block to abut against the other end of the rivet to be riveted, and the top iron and the riveting block are pressed against each other from two ends of the rivet respectively to complete pressure riveting. The riveting training equipment has the following beneficial effects: the riveting piece can be automatically riveted through the manipulator and the driving device, automatic riveting is realized, and workers after practical training can quickly adapt to automatic riveting operation of an aircraft production field.

Description

Riveting training equipment

Technical Field

The utility model relates to a real standard equipment technical field especially relates to a real standard equipment of riveting.

Background

The airplane safety problem mainly refers to the reliability problem of assembly, and riveting is used as the main assembly form of airplane parts and plays an important role in airplane assembly.

In the actual aircraft production, the production working condition is very complicated, the riveting of aircraft parts is directly related to the safety problem of the whole aircraft, and no error occurs, so that the riveting operation of an aircraft production field can not be immediately carried out after a worker obtains the qualification certificate of the riveting operation, and the riveting operation of the production field can be carried out after practical training.

However, the conventional riveting practical training equipment generally adopts a manual riveting mode, so that the automation degree is low, the specific gravity of manual labor is high, the labor intensity is high, and the riveting efficiency is low; the influence of human factors on the riveting effect is large, so that the riveting precision is unstable; the existing riveting practical training equipment has limited functions and cannot realize the integrated operation of compressing, punching, nail feeding and press riveting of a piece to be riveted; the difference between the current riveting practical training equipment and the riveting device on the aircraft production site is large, and workers after practical training can not adapt to the automatic riveting operation on the aircraft production site quickly.

In summary, it is necessary to design a riveting training device to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a real standard equipment of riveting can realize automatic riveting, makes the automatic dress operation of riveting that the staff after real standard can adapt to the aircraft production scene fast.

To achieve the purpose, the utility model adopts the following technical proposal:

a riveting training device comprising:

the riveting device comprises a mechanical arm, a pressing module, a punching module and a nail feeding module, wherein the mechanical arm is provided with the pressing module, the punching module and the nail feeding module which are respectively used for pressing, punching and feeding nails for a piece to be riveted, and the mechanical arm is also provided with a top iron which is used for abutting against one end of a rivet on the piece to be riveted;

the riveting module comprises a driving device and a riveting block, the driving device is in driving connection with the riveting block, the driving device is used for driving the riveting block to abut against the other end of the rivet on the part to be riveted, and the top iron and the riveting block are pressed against each other from two ends of the rivet respectively so as to complete press riveting.

Preferably, the drive is a five degree of freedom drive.

Preferably, the pressing module comprises a support plate and a first driving piece, a pressing head is arranged on the support plate, the first driving piece is in driving connection with the support plate, and the first driving piece is used for driving the support plate to move so as to drive the pressing head to abut against one side of the to-be-riveted piece.

Preferably, the pressing module further comprises a pressure sensor, and the pressure sensor is arranged on the pressing head and used for detecting the pressure between the to-be-riveted piece and the pressing head.

Preferably, the punching module comprises a second driving member and a drill bit, the second driving member is in driving connection with the drill bit, and the second driving member is used for driving the drill bit to rotate.

Preferably, the punching module further comprises a third driving piece and a first lead screw, the third driving piece is in driving connection with the first lead screw, the second driving piece is sleeved on the first lead screw, the center of the drill bit coincides with the center of the pressing head, and the third driving piece is used for driving the first lead screw to rotate so as to drive the second driving piece to move, so that the drill bit penetrates through the pressing head and moves towards the direction close to the piece to be riveted.

Preferably, the nail feeding module comprises a disc, a sleeve assembly and a fourth driving part, the fourth driving part is in driving connection with the disc, the disc is connected with the sleeve assembly through a hollow part, the hollow part is arranged on the disc in a penetrating mode, one end of the hollow part is clamped in the sleeve assembly, and the fourth driving part is used for driving the disc to rotate, so that the rivets in the disc fall into the sleeve assembly through the openings in the hollow part.

Preferably, the sleeve assembly comprises a first sleeve and a second sleeve, the first sleeve is sleeved outside the second sleeve, the rivet falls into the second sleeve through the first sleeve, a baffle is arranged in the second sleeve, the baffle is in driving connection with the fourth driving part, and the fourth driving part is further used for driving the baffle to move, so that the rivet is pushed out by the baffle.

Preferably, the manipulator comprises an actuator, the actuator is located at the tail end of the manipulator, and the pressing module, the punching module, the nail feeding module and the top iron are all arranged on the actuator.

Preferably, drive arrangement includes fifth driving piece and second lead screw, the fifth driving piece with second lead screw drive is connected, the cover is equipped with first connecting piece on the second lead screw, the riveting piece is located on the first connecting piece, the fifth driving piece is used for the drive the second lead screw rotates, in order to drive the riveting piece removes along the X axle.

The utility model has the advantages that:

the manipulator is respectively provided with the pressing module, the punching module and the nail conveying module, so that the pressing module, the punching module and the nail conveying module can be used for pressing, punching and nail conveying work of a to-be-riveted piece, and the manipulator is also provided with a top iron for abutting against one end of a rivet on the to-be-riveted piece; meanwhile, the driving device drives the riveting block to abut against the other end of the rivet on the part to be riveted, so that the top iron and the riveting block are respectively pressed against each other from the two ends of the rivet to complete the press riveting work, and the riveting work of the part to be riveted is realized; the riveting training equipment has diversified functions, and can realize the integrated operation of compressing, punching, nail feeding and pressure riveting of a piece to be riveted; the riveting piece to be riveted can be automatically riveted through the manipulator and the driving device, so that automatic riveting of riveting practical training equipment is realized; the riveting is not needed, the automation degree is high, the manual labor amount is low, the labor intensity is low, the riveting efficiency is high, and the riveting precision can be ensured; the automatic riveting operation of the airplane production field can be quickly adapted to workers who are subjected to practical training.

Drawings

Fig. 1 is a schematic structural diagram of a riveting practical training device provided by the present invention;

fig. 2 is a schematic structural diagram of an actuator provided by the present invention;

fig. 3 is a schematic structural diagram of the riveting module provided by the present invention.

Description of reference numerals:

in the figure:

1-riveting training equipment;

11-a manipulator; 111-an actuator;

1111-a compacting module; 14-a first drive member; 15-a support plate; 16-a compression head;

1112-a puncturing module; 21-a third drive member; 22-a first lead screw; 23-a second drive member; 24-a drill bit;

1113-nail feeding module; 31-a fourth drive; 32-an output rod; 33-branch strut; 34-a disc; 35-a hollow member; 36-a first sleeve; 37-a second sleeve;

1114-top iron;

12-a riveting module; 121-riveting block;

122-a drive device; 41-fifth driving member; 42-a second lead screw; 43-a first connector; 51-a sixth drive member; 52-third lead screw; 53-a second connector; 61-a first housing; 62-a second housing; 63-a third connector; 64-a ninth drive member;

13-control module.

Detailed Description

All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.

Any feature disclosed in this specification may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features. Like reference numerals refer to like elements throughout the specification.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used in the orientation or positional relationship shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

In order to make the technical problem solved by the present invention, the technical solution adopted by the present invention and the technical effect achieved by the present invention clearer, the technical solution of the present invention will be further explained by combining the drawings and by means of the specific implementation manner.

The embodiment provides riveting practical training equipment which is used for training riveting operation of workers in a practical training process, so that the workers after practical training can quickly adapt to automatic riveting operation of an aircraft production field. Specifically, as shown in fig. 1, the riveting practical training device 1 includes a manipulator 11, a riveting module 12, and a control module 13.

As shown in fig. 1 and fig. 2, the manipulator 11 is provided with a pressing module 1111, a punching module 1112, and a nail feeding module 1113, which are respectively used for pressing, punching, and feeding nails to be riveted, and the manipulator 11 is further provided with a top iron 1114, which is used for abutting against one end of a rivet on the to-be-riveted piece; the riveting module 12 comprises a driving device 122 and a riveting block 121, the driving device 122 is in driving connection with the riveting block 121, the driving device 122 is used for driving the riveting block 121 to abut against the other end of the rivet on the piece to be riveted, and the top iron 1114 and the riveting block 121 are respectively pressed against each other from two ends of the rivet to complete press riveting; the control module 13 is configured to send a control signal to the manipulator 11 and the riveting module 12 to control the manipulator 11 and the riveting module 12 to rivet the to-be-riveted member.

The manipulator 11 is respectively provided with a pressing module 1111, a punching module 1112 and a nail feeding module 1113, so that the manipulator can be used for pressing, punching and feeding a nail to a to-be-riveted piece, and the manipulator 11 is also provided with a top iron 1114 which is used for propping against one end of the rivet on the to-be-riveted piece; meanwhile, the driving device 122 drives the riveting block 121 to abut against the other end of the rivet on the piece to be riveted, so that the top iron 1114 and the riveting block 121 are respectively pressed against each other from two ends of the rivet to complete the press riveting work, and the riveting work of the piece to be riveted is realized; the riveting training equipment 1 has diversified functions, and can realize the integrated operation of compressing, punching, nail feeding and riveting a to-be-riveted part.

A control signal is sent to the manipulator 11 and the riveting module 12 through the control module 13 to control the manipulator 11 and the riveting module 12 to automatically rivet a to-be-riveted piece, so that automatic riveting of the riveting practical training device 1 is realized; the riveting is not needed, the automation degree is high, the manual labor amount is low, the labor intensity is low, the riveting efficiency is high, and the riveting precision can be ensured; the automatic riveting operation of the airplane production field can be quickly adapted to workers who are subjected to practical training.

Specifically, the manipulator 11 comprises an actuator 111, the actuator 111 is located at the tail end of the manipulator 11, the actuator 111 is connected to a flange plate at the tail end of the manipulator 11 through bolts, a pressing module 1111, a punching module 1112, a nail feeding module 1113 and a top iron 1114 are all arranged on the actuator 111, and the pressing module 1111, the punching module 1112, the nail feeding module 1113 and the top iron 1114 are arranged on the actuator 111 in an order convenient for operation; the manipulator 11 further comprises a rocker arm, and the actuator 111 is connected with the rocker arm, and the position of the working module on the actuator 111 is adjusted by controlling the rotation or posture change of the rocker arm. The manipulator 11 automatically moves to the position of the part to be riveted through the electric slide rail. In this embodiment, the to-be-riveted member is an aircraft component.

Further, when the workpiece to be riveted needs to be pressed, the control module 13 controls the arm of the manipulator 11 to rotate, so that the working module on the actuator 111 is the pressing module 1111. Specifically, the pressing module 1111 includes a support plate 15 and a first driving member 14, a pressing head 16 is disposed on the support plate 15, the first driving member 14 is in driving connection with the support plate 15, the first driving member 14 is used for driving the support plate 15 to move, and the support plate 15 drives the pressing head 16 to move towards a direction close to the to-be-riveted member until the pressing head 16 abuts against one side of the to-be-riveted member. In this embodiment, the first driving member 14 is a dc motor.

Specifically, the pressing module 1111 further includes a pressure sensor, which is disposed at an end of the pressing head 16 and is used for detecting a pressure between the to-be-riveted member and the pressing head 16; and pressure sensor and control module 13 signal connection, control module 13 and first driving piece 14 control connection, control module 13 can be according to the closing of the pressure control first driving piece 14 that pressure sensor detected. When the pressure sensor transmits the detected pressure value to the control module 13, the control module 13 receives the pressure value, and determines that the received pressure value reaches a preset specified value, the control module 13 controls the first driving part 14 to stop rotating, and the work of the compressing module 1111 is completed.

Further, when the pressing operation is completed and the punching operation needs to be performed on the workpiece to be riveted, the control module 13 controls the arm of the manipulator 11 to rotate, so that the working module on the actuator 111 is the punching module 1112. Specifically, the drilling module 1112 includes a second driving element 23 and a drill bit 24, the second driving element 23 is in driving connection with the drill bit 24, and the second driving element 23 is used for driving the drill bit 24 to rotate. In this embodiment, the second driving member 23 is a dc motor.

After the drill 24 is used for drilling, the drilled hole needs to be reamed so that a cylindrical counter bore is machined in the hole to facilitate the press riveting operation. In this embodiment, the drill bit 24 is the drill bit of drilling and countersinking an organic whole, can once only punch and the work of countersinking, has avoided changing the drill bit 24 many times, has reduced loaded down with trivial details process, has improved work efficiency.

Specifically, as shown in fig. 2, the punching module 1112 further includes a third driving member 21 and a first lead screw 22, the third driving member 21 is in driving connection with the first lead screw 22, the second driving member 23 is sleeved on the first lead screw 22 through a sliding table, and the center of the drill bit 24 coincides with the center of the circular hole on the pressing head 16, the third driving member 21 positively rotates to drive the first lead screw 22 to positively rotate, so as to drive the second driving member 23 to move, because the second driving member 23 and the drill bit 24 are connected as a whole, the second driving member 23 drives the drill bit 24 to pass through the circular hole on the pressing head 16 and move and punch in a direction close to the to-be-riveted member. The center of the drill bit 24 coincides with the center of the circular hole in the pressing head 16, so that the riveting piece can be guaranteed to be punched at the pressing position, and the punching position precision is guaranteed. In this embodiment, the third driving member 21 is a servo motor.

After the drilling operation is completed, the third driving member 21 rotates reversely to drive the first lead screw 22 to rotate reversely so as to drive the second driving member 23 to move, and the second driving member 23 drives the drill bit 24 to penetrate through the circular hole in the pressing head 16 and move in the direction away from the part to be riveted so as to retract the cutter; when the tool retracting is finished, the drill bit 24 retracts, the third driving piece 21 stops working, the second driving piece 23 also stops working, and the drill bit 24 stops rotating; meanwhile, the first driving member 14 is started to rotate reversely to drive the support plate 15 and the pressing head 16 on the support plate 15 to move in the direction away from the member to be riveted, so as to retract the knife, and then the first driving member 14 stops working, so that the punching module 1112 finishes working.

Further, when the work of punching and retracting is completed and the nail feeding work for the workpiece to be riveted is required, the control module 13 controls the arm of the manipulator 11 to rotate, so that the work module on the actuator 111 is the nail feeding module 1113. Specifically, the nail feeding module 1113 comprises a disc 34, a sleeve assembly and a fourth driving part 31, the fourth driving part 31 is in driving connection with the disc 34, the disc 34 is connected with the sleeve assembly through a hollow part 35, the hollow part 35 is arranged on the disc 34 in a penetrating manner, one end of the hollow part 35 is clamped in the sleeve assembly, and the other end of the hollow part 35 is located in the disc 34; the fourth driving member 31 is used for driving the hollow member 35 inside the disc 34 to rotate, so that the rivet inside the disc 34 falls into the sleeve assembly through the hollow member 35. In the present embodiment, the fourth driver 31 is a cylinder.

Specifically, an inlet (not shown) is arranged on the disc 34, rivets are fed into the disc 34 through the inlet by using a rivet feeding device, an opening is arranged on the hollow part 35 positioned in the disc 34, when the fourth driving part 31 operates, the output rod 32 of the fourth driving part 31 drives the hollow part 35 and the disc 34 to rotate, the axis of the rivet is rotated to be matched with the size of the opening, so that the dropping angle of the rivet is just coincided with the position for receiving the rivet in the sleeve assembly, and the direction and the angle of the rivet are not deviated when the rivet is fed to the punching hole on the member to be riveted through the sleeve assembly.

Further, as shown in fig. 2, the sleeve assembly includes a first sleeve 36 and a second sleeve 37, the first sleeve 36 is sleeved on the outer side of the second sleeve 37, the first sleeve 36 and the second sleeve 37 can move relatively, the rivet drops into the second sleeve 37 through the first sleeve 36 to be used for receiving the rivet, a baffle is arranged on the inner side of the second sleeve 37, the baffle is in driving connection with the fourth driving part 31, and the fourth driving part 31 is further used for driving the baffle to move, so that the baffle pushes out the rivet to the punching hole on the to-be-riveted member.

Specifically, the baffle is connected with the output rod 32 of the fourth driving member 31 through the branch rod 33, when the fourth driving member 31 drives the disc 34 to rotate, the branch rod 33 simultaneously drives the baffle to move towards the direction close to the member to be riveted, the first sleeve 36 is fixedly connected with the disc 34, the first sleeve 36 moves outside the second sleeve 37 along with the rotation of the disc 34 until the rivet falls through the first sleeve 36 and is adjusted into the second sleeve 37, at this time, the thrust of the baffle pushes the rivet out to the punching hole, and the work of the nail feeding module 1113 is completed. In this embodiment, the baffle has a magnetic force and can be attracted to the head of the rivet, so that the rivet is always horizontally placed in the second sleeve 37.

By providing the first sleeve 36, on the one hand, for connecting the disc 34 with the second sleeve 37; on the other hand, the rivet pressing device has a guiding function, so that the axis direction of the rivet is consistent with the axis direction of the second sleeve 37, the direction of the rivet is not deflected when the rivet is pushed into a punching position of a to-be-riveted part, and the final pressing riveting effect is better.

When the work of feeding the nails is finished and the workpiece to be riveted needs to be pressed, the control module 13 controls the arm of the manipulator 11 to rotate, so that the working module on the actuator 111 is the top iron 1114; the nose iron 1114 is brought into abutment with and against the head of the rivet on the part to be riveted in preparation for the clinching operation. In this embodiment, the top iron 1114 is made of high strength steel, which has a high strength; and the shape of the top iron 1114 is matched with the shape of the tail part of the rivet on the part to be riveted, so that the riveting effect is better.

Further, in this embodiment, the driving device 122 is a five-degree-of-freedom driving device, so that the driving device 122 can move along the X axis and the Z axis, respectively, and control the position of the riveting block 121 in five degrees of freedom of rotation around the X axis and the Z axis, so that the riveting block 121 can be accurately positioned to the position of the punching hole on the member to be riveted, the riveting block 121 is aligned with the tail of the rivet, and then the riveting block 121 is driven to extend along the axial direction of the rivet and press against and cooperate with the top iron 1114 on the actuator 111 of the head portion of the rivet, so as to complete the riveting operation, and the riveting effect is good.

Specifically, as shown in fig. 3, the driving device 122 can respectively drive the riveting block to move along the X axis and the Z axis, and adjust the position of the riveting block around the X axis and the Z axis with five degrees of freedom, and the X axis and the Z axis are as shown in fig. 3. A fifth driving part 41 and a second lead screw 42 are arranged on the X axis, the fifth driving part 41 is in driving connection with the second lead screw 42, and a first connecting part 43 is sleeved on the second lead screw 42; on the Z axle, be provided with sixth driving piece 51 and third lead screw 52, sixth driving piece 51 and third lead screw 52 drive connection, third lead screw 52 and first connecting piece 43 fixed connection, and the cover is equipped with second connecting piece 53 on the third lead screw 52, and riveting piece 121 sets up on second connecting piece 53.

When the fifth driving element 41 drives the second lead screw 42 to rotate, the second lead screw 42 drives the first connecting element 43 to move along the X axis, and the first connecting element 43 drives the third lead screw 52 to move along the X axis; meanwhile, the sixth driving element 51 drives the third lead screw 52 to rotate, and the third lead screw 52 drives the second connecting element 53 to move along the Z axis, so as to drive the riveting block 121 to move along the Z axis, so as to adjust the specific positions of the riveting block 121 on the X axis and the Z axis, and to position the riveting block 121 at the initial position. In this embodiment, the fifth driving element 41 is a servo motor, and the sixth driving element 51 is a servo motor.

Furthermore, a first shell 61 and a seventh driving element are arranged on the Z axis, the seventh driving element is arranged inside the first shell 61, and the first shell 61 is fixedly connected with the second connecting element 53; a second outer shell 62 and an eighth driving piece are further arranged on the X axis, the eighth driving piece is arranged on the inner side of the second outer shell 62, and one end of the second outer shell 62 is fixedly connected with an output shaft of the seventh driving piece; a ninth driving member 64 and a third connecting member 63 are further disposed on the X axis, one end of the third connecting member 63 is fixedly connected to the output shaft of the eighth driving member, the other end of the third connecting member 63 is fixedly connected to the ninth driving member 64, and the output shaft of the ninth driving member 64 is connected to the riveting block 121. In this embodiment, the seventh driving element is an electric steering engine. The eighth driving piece is an electric steering engine. The ninth driver 64 is a dc motor.

Specifically, when the seventh driving element rotates, the output shaft of the seventh driving element simultaneously drives the second housing 62, the third connecting element 63 and the riveting block 121 to rotate around the Z axis, so that the riveting block 121 swings left and right to adjust the inclination angle thereof; when the eighth driving member rotates, the output shaft of the eighth driving member drives the third connecting member 63 and the riveting block 121 to rotate around the X axis at the same time, so that the riveting block 121 swings up and down to further adjust the inclination angle thereof; when the ninth driving member 64 rotates, the output shaft of the ninth driving member 64 drives the riveting block 121 to feed on the X-axis along the direction close to the rivet on the member to be riveted, so that the riveting block 121 extends back and forth to make the riveting block 121 abut against the tail of the rivet on the member to be riveted; so as to adjust the rotation angles of the riveting block 121 on the Z-axis and the X-axis and the specific position in the X-axis direction, thereby realizing the positioning of the accurate position of the riveting block 121.

Further, the control module 13 is a master device for controlling the starting, speed regulation, braking and reversing of the motor by changing the wiring of the master circuit or the control circuit and changing the resistance value in the circuit according to a predetermined sequence. The system consists of a program counter, an instruction register, an instruction decoder, a time sequence generator and an operation controller, and is a decision mechanism for issuing commands, namely, the decision mechanism is used for coordinating and commanding the operation of the whole computer system.

In particular, the control module 13 is a multi-axis motion control card. The multi-axis motion control card can execute the preset motion action of the manipulator 11 through a numerical control G code program; the sensor signal is received or sent through an input port and an output port on the motion control card, so that corresponding action is triggered, and the control of the whole automatic system is completed; so that the whole riveting work is orderly carried out according to a preset program to realize the automatic riveting of the parts to be riveted. In this embodiment, the multi-axis motion control card is a six-axis motion control card.

The riveting training equipment 1 of the embodiment has the following specific riveting process: firstly, clamping a to-be-riveted part by using a clamp, and controlling a robot hand to move to the to-be-riveted part along an electric sliding rail by using a control module 13; when the control module 13 sends a work starting instruction, the manipulator 11 starts to move, the punching position starts to be positioned, and when the positioning position is determined, the actuator 111 on the manipulator 11 is adjusted to be the pressing module 1111, so that the first driving piece 14 drives the support plate 15 to move, and the support plate 15 drives the pressing head 16 to move towards the direction close to the piece to be riveted until the pressing head 16 abuts against one side of the piece to be riveted; when the pressure value detected by the pressure sensor reaches a preset specified value, the control module 13 controls the first driving part 14 to stop rotating, and the pressing head 16 presses against the member to be riveted.

Then, the actuator 111 on the manipulator 11 is adjusted to be a punching module 1112, and the second driving part 23 drives the drill 24 to rotate; meanwhile, the third driving member 21 rotates forward to drive the first lead screw 22 to rotate forward, the first lead screw 22 drives the second driving member 23 to move, and the second driving member 23 drives the drill bit 24 to penetrate through the circular hole in the pressing head 16 and move and punch in the direction close to the member to be riveted; after the drilling is finished, the third driving part 21 reversely rotates to drive the first lead screw 22 to reversely rotate so as to drive the second driving part 23 to move back, and the second driving part 23 drives the drill bit 24 to penetrate through the circular hole in the pressing head 16 and move in the direction away from the part to be riveted so as to retract the cutter; when the tool retracting is finished, the drill bit 24 retracts, the third driving piece 21 stops working, the second driving piece 23 also stops working, and the drill bit 24 stops rotating; meanwhile, the first driving part 14 is started to rotate reversely so as to drive the support plate 15 and the pressing head 16 on the support plate 15 to move in the direction away from the to-be-riveted piece, the tool is retracted, and then the first driving part 14 stops working.

Then, the working module on the actuator 111 is the nail feeding module 1113, and the fourth driving part 31 is used for driving the hollow part 35 in the disc 34 to rotate, so that the rivet in the disc 34 falls into the second sleeve 37 through the hollow part 35; meanwhile, the fourth driving part 31 drives the baffle in the second sleeve 37 to move, so that the baffle pushes out the rivet to the punching hole on the part to be riveted; and the top iron 1114 is abutted against the head of the rivet on the part to be riveted.

Finally, the driving device 122 drives the riveting block 121 to move on the X axis and the Z axis and adjust the position in five degrees of freedom of rotation around the X axis and the Z axis, so that the riveting block 121 can be accurately positioned to the position of the punching hole on the member to be riveted, the riveting block 121 is aligned with the tail of the rivet, and then the ninth driving member 64 drives the riveting block 121 to extend out along the axis direction of the rivet and press against and match with the top iron 1114 on the actuator 111 abutting against the head of the rivet, so as to complete the press riveting action; then, the driving device 122 is retracted, and the actuator 111 of the robot 11 is restored to the initial state to complete the entire caulking process.

The above description is only for the preferred embodiment of the present invention, and for those skilled in the art, there are variations on the detailed description and the application scope according to the idea of the present invention, and the content of the description should not be construed as a limitation to the present invention.

Claims (10)

1. The utility model provides a real standard equipment of riveting which characterized in that includes:

the riveting device comprises a mechanical arm (11), wherein a pressing module (1111), a punching module (1112) and a nail feeding module (1113) are arranged on the mechanical arm (11) and are respectively used for pressing, punching and feeding nails for a to-be-riveted piece, and a top iron (1114) is also arranged on the mechanical arm (11) and is used for abutting against one end of a rivet on the to-be-riveted piece;

the riveting module (12), the riveting module (12) includes drive arrangement (122) and riveting block (121), drive arrangement (122) with riveting block (121) drive connection, drive arrangement (122) are used for driving riveting block (121) to support and lean on to wait the other end of riveting on the riveting piece the rivet, top iron (1114) with riveting block (121) are pressed each other from the both ends of rivet respectively to accomplish the pressure riveting.

2. The riveting training apparatus of claim 1, wherein the drive device (122) is a five degree of freedom drive device.

3. The riveting training device according to claim 1, wherein the pressing module (1111) comprises a support plate (15) and a first driving member (14), a pressing head (16) is arranged on the support plate (15), the first driving member (14) is in driving connection with the support plate (15), and the first driving member (14) is used for driving the support plate (15) to move so as to drive the pressing head (16) to abut against one side of the piece to be riveted.

4. Riveting training equipment according to claim 3, wherein the pressing module (1111) further comprises a pressure sensor arranged on the pressing head (16) for detecting the pressure between the piece to be riveted and the pressing head (16).

5. The riveting training device according to claim 3, wherein the punching module (1112) comprises a second driver (23) and a drill bit (24), the second driver (23) is in driving connection with the drill bit (24), and the second driver (23) is used for driving the drill bit (24) to rotate.

6. The riveting practical training device according to claim 5, wherein the punching module (1112) further comprises a third driving member (21) and a first lead screw (22), the third driving member (21) is in driving connection with the first lead screw (22), the second driving member (23) is sleeved on the first lead screw (22), the center of the drill bit (24) coincides with the center of the pressing head (16), and the third driving member (21) is used for driving the first lead screw (22) to rotate so as to drive the second driving member (23) to move, so that the drill bit (24) passes through the pressing head (16) and moves towards the direction close to the to-be-riveted member.

7. The riveting practical training device according to claim 1, wherein the rivet feeding module (1113) comprises a disc (34), a sleeve assembly and a fourth driving member (31), the fourth driving member (31) is in driving connection with the disc (34), the disc (34) is connected with the sleeve assembly through a hollow member (35), the hollow member (35) penetrates through the disc (34), one end of the hollow member (35) is clamped in the sleeve assembly, and the fourth driving member (31) is used for driving the disc (34) to rotate, so that the rivet in the disc (34) falls into the sleeve assembly through an opening in the hollow member (35).

8. The riveting practical training device according to claim 7, wherein the sleeve assembly comprises a first sleeve (36) and a second sleeve (37), the first sleeve (36) is sleeved outside the second sleeve (37), the rivet falls into the second sleeve (37) through the first sleeve (36), a baffle is arranged in the second sleeve (37), the baffle is in driving connection with the fourth driving member (31), and the fourth driving member (31) is further used for driving the baffle to move, so that the baffle pushes out the rivet.

9. The riveting training device according to claim 1, wherein the manipulator (11) comprises an actuator (111), the actuator (111) is located at the end of the manipulator (11), and the pressing module (1111), the punching module (1112), the nail feeding module (1113) and the top iron (1114) are all arranged on the actuator (111).

10. The riveting practical training device according to claim 1, wherein the driving device (122) comprises a fifth driving element (41) and a second lead screw (42), the fifth driving element (41) is in driving connection with the second lead screw (42), a first connecting element (43) is sleeved on the second lead screw (42), the riveting block (121) is located on the first connecting element (43), and the fifth driving element (41) is used for driving the second lead screw (42) to rotate so as to drive the riveting block (121) to move along the X axis.

Images